/***********************************************************************************************************************
* DISCLAIMER
* This software is supplied by Renesas Electronics Corporation and is only intended for use with Renesas products.
* No other uses are authorized. This software is owned by Renesas Electronics Corporation and is protected under all
* applicable laws, including copyright laws. 
* THIS SOFTWARE IS PROVIDED "AS IS" AND RENESAS MAKES NO WARRANTIESREGARDING THIS SOFTWARE, WHETHER EXPRESS, IMPLIED
* OR STATUTORY, INCLUDING BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NON-INFRINGEMENT.  ALL SUCH WARRANTIES ARE EXPRESSLY DISCLAIMED.TO THE MAXIMUM EXTENT PERMITTED NOT PROHIBITED BY
* LAW, NEITHER RENESAS ELECTRONICS CORPORATION NOR ANY OF ITS AFFILIATED COMPANIES SHALL BE LIABLE FOR ANY DIRECT,
* INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR ANY REASON RELATED TO THIS SOFTWARE, EVEN IF RENESAS OR
* ITS AFFILIATES HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
* Renesas reserves the right, without notice, to make changes to this software and to discontinue the availability 
* of this software. By using this software, you agree to the additional terms and conditions found by accessing the 
* following link:
* http://www.renesas.com/disclaimer
*
* Copyright (C) 2015 Renesas Electronics Corporation. All rights reserved.
***********************************************************************************************************************/

/***********************************************************************************************************************
* File Name    : r_cg_main.c
* Version      : Code Generator for RX23T V1.00.01.01 [30 Oct 2015]
* Device(s)    : R5F523T5AxFM
* Tool-Chain   : CCRX
* Description  : This file implements main function.
* Creation Date: 2017/7/29 星期六
***********************************************************************************************************************/

/***********************************************************************************************************************
Pragma directive
***********************************************************************************************************************/
/* Start user code for pragma. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */

/***********************************************************************************************************************
Includes
***********************************************************************************************************************/
#include "r_cg_macrodriver.h"
#include "r_cg_cgc.h"
#include "r_cg_icu.h"
#include "r_cg_port.h"
#include "r_cg_cmt.h"
#include "r_cg_sci.h"
/* Start user code for include. Do not edit comment generated here */
#include "../user_bsp.h"
/* End user code. Do not edit comment generated here */
#include "r_cg_userdefine.h"

/***********************************************************************************************************************
Global variables and functions
***********************************************************************************************************************/
/* Start user code for global. Do not edit comment generated here */

uint8_t ImagRecOK = 0;
uint8_t RXBUF[sizeof(Msg_FMUToCtrl_Pkg_t)];
/* End user code. Do not edit comment generated here */


void R_MAIN_UserInit(void);
/***********************************************************************************************************************
* Function Name: main
* Description  : This function implements main function.
* Arguments    : None
* Return Value : None
***********************************************************************************************************************/
void main(void)
{
    R_MAIN_UserInit();
    /* Start user code. Do not edit comment generated here */
    while (1U)
    {
    	if(ImagRecOK == 1)
    	{
 //   		Image_Deal();
    		Seach_Car_XY();
    		Image_Correct();
    		ImagRecOK = 0;
  		EN_SendMsgToFmu=Yes;
  		EN_PID_Calcu=Yes;
  	     SCI1_Printf("%d %d %f\r\n",Info_Car_t.Mid_xy.x,Info_Car_t.Mid_xy.y,Fly_Status_t.ROLL);
    	}
    	ReadOnePic();
//    	Action_Update();
    }
    /* End user code. Do not edit comment generated here */
}
/***********************************************************************************************************************
* Function Name: R_MAIN_UserInit
* Description  : This function adds user code before implementing main function.
* Arguments    : None
* Return Value : None
***********************************************************************************************************************/
void R_MAIN_UserInit(void)
{
    /* Start user code. Do not edit comment generated here */
    R_SCI1_Start();//串口1
    R_SCI5_Start();//串口5初始化
    R_FIFO_Create();

    OV7725_Init();
    R_ICU_IRQ0_Start();
    R_CMT0_Start();//定时器
    R_SCI5_Serial_Receive(RXBUF, sizeof(Msg_FMUToCtrl_Pkg_t));
    /* End user code. Do not edit comment generated here */
}

/* Start user code for adding. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
